In this section, we focus on improving relative pose estimation by exploiting multiple homographies.
Pose estimation is a fundamental problem in a number of popular methods, , in Structure-from-Motion (SfM) algorithms.
While the usual procedure to estimate a relative pose uses epipolar geometry, it is well-known that the pose can also be obtained from a homography if the cameras are calibrated.
However, in most pipelines, homographies are used only if the scene is degenerate for fundamental matrix estimation, , a single plane dominates the scene [1]} or the camera undergoes purely rotational motion.
In this section, we aim to explore ways of exploiting multiple homographies to improve the relative pose accuracy.
See Fig. REF  for an example.
